CN205058038U - Seven manipulators and seven manipulator cnc engraving and milling machine - Google Patents
Seven manipulators and seven manipulator cnc engraving and milling machine Download PDFInfo
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- CN205058038U CN205058038U CN201520711714.3U CN201520711714U CN205058038U CN 205058038 U CN205058038 U CN 205058038U CN 201520711714 U CN201520711714 U CN 201520711714U CN 205058038 U CN205058038 U CN 205058038U
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- negative pressure
- axis robot
- tracheae
- workpiece
- slide rail
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Abstract
The utility model provides a seven manipulators, its riser guide are installed at lateral transfer mechanism top and perpendicular to transverse guide, and flexible transport mechanism installs at lift transport mechanism top and perpendicular to riser guide and transverse guide, the end of flexible arm has take the last unloader of sucking disc, last unloader can carry out upset around 90, the sucking disc in quotation intercommunication can produce the trachea of positive and negative atmospheric pressure, the trachea is connected with gaseous positive negative pressure controlling means gas, the size of adjustable negative pressure just can promote unloading efficiency with attraction different categories's work piece, the utility model also discloses a seven manipulator cnc engraving and milling machine, with work piece blowing frame and cnc engraving and milling machine's incised work platform separately, draw seven manipulators, work piece blowing frame through slide rail and the drive rail that adopts parallel arrangement, in the vibrations, makes the vibrations of seven manipulators parts and the partial vibrations of host computer not influence each other in reducing by seven manipulator transmission courses, the accurate degree of the work piece carved out has further promotion.
Description
Technical field
The utility model relates to Digit Control Machine Tool field, is specifically related to a kind of manipulator of Digit Control Machine Tool, and uses the finishing impression Digit Control Machine Tool of this seven axis robot.
Background technology
The raw material of process and the finished product that processes in conventional art, generally rely on and manually carry out material loading blanking, and the process time of general workpiece just completed within several minutes, therefore need a large amount of manually to carry out the work that repetition simply takes, puts raw material and finished product, waste time and energy, and there is potential safety hazard, cause that front man's labour intensity is large, longevity of service, fatiguability, affect production capacity and the quality of product.Want to overcome above shortcoming and just must replace manpower with machine or mechanism, therefore the lathe such as manipulator, robot subsidiary engine has been used on part lathe.
Existing manipulator carries out mass transport by holding workpiece or material grasping sucker.For metal works, the mode that manipulator can be smoothly through clamping carries out loading and unloading, but for frangible workpiece as thin sheet glass, carries out mass transport in the mode clamped, and clamping dynamics controls not good possibility and thin sheet glass is caught broken; For the thin sheet glass workpiece of surfacing, common material grasping sucker can directly be depressed into glass is drawn by glass to be carried out operation of feeding and discharging, but for metal works, because its unit mass is comparatively large and surperficial general comparatively coarse, the direct pressing of material grasping sucker is drawn dynamics deficiency and will be caused easily falling phenomenon in metal works course of conveying, the operation causing follow-up finishing impression to process is accurate not, and yields is declined.
In addition, because robot section, workpiece discharging frame and carving machine part adopt unitary design, in the process of loading and unloading, during manipulator loading and unloading, easily produce vibration, carving machine being offset because of vibration when carving, making the workpiece defect rate of carve increase.
Summary of the invention
The purpose of this utility model is for the existing state of the art, provides a kind of seven axis robot, is implemented by the following technical solutions:
A kind of seven axis robot, comprise the cross slide way and cross drive mechanism that are mutually slidably matched and the lateral dynamics source driving slip mutually, the Longitudinal source of the riser guide be mutually slidably matched and lifting transmission mechanism and the mutual slip of driving, the flexible power source of the telescopic arm be mutually slidably matched and flexible connecting gear and the mutual slip of driving, it is characterized in that, described riser guide to be arranged on above cross drive mechanism and perpendicular to cross slide way, flexible connecting gear to be arranged on above lifting transmission mechanism and perpendicular to riser guide and cross slide way, the end of telescopic arm has the handling equipment of band sucker, described handling equipment overturns before and after carrying out 90 °, in described sucker, card is communicated with the tracheae that can produce positive and negative air-pressure, tracheae is connected with gas positive-negative pressure control device gas.
Further, described power source is cylinder.
Further, described handling equipment overturns can carry out 90 ° under the promotion of loading and unloading cylinder before and after.
Further, described tracheae is two, is respectively malleation tracheae and negative pressure tracheae, and described negative pressure tracheae controls to produce negative pressure by gas positive-negative pressure control device and carries out air-breathing; Described malleation tracheae controls to produce positive air pressure by gas positive-negative pressure control device and blows.
Effectively improve as one, described gas positive-negative pressure control device is magnetic valve.
In addition, the utility model additionally provides a kind of carving machine using this seven axis robot, the mode of its seven axis robot, workpiece discharging frame and engraver's table separate design, and the vibrations reducing each parts of carving machine influence each other.
For achieving the above object, the utility model adopts following technological means to be implemented:
A kind of seven axis robot carving machines, comprise seven axis robot, frame, Intergration system, the engraver's table be separated with frame, dustless electric cabinet, workpiece discharging frame, it is characterized in that, the operating desk of described frame to be horizontally disposed with and perpendicular to cross slide way a pair slide rail, a pair drive track, described drive track and slide rail arranged in parallel and all perpendicular to cross slide way, described workpiece discharging frame and seven axis robot are fixed on drive track and slide rail, and along slide rail back and forth movement under the drive of drive track.
Further, described workpiece discharging frame is the cage basket that array has some slots.
Further, described drive track is positioned at slide rail central authorities.
As a kind of excellent improvement, described engraver's table has the negative pressure generating device of absorption workpiece.
Further improve, can arrange described engraver's table number is 3 ~ 6.
The beneficial effects of the utility model are as follows:
1. improved by the sucker of the handling equipment by seven axis robot, adopting positive/negative-pressure control device to control can the air-breathing tracheae of blowing, regulate the size of negative pressure to attract different classes of workpiece, even if metal works that is heavier, surface irregularity, negative pressure endotracheal suction gravitation is increased, get final product effective and firm it being picked up, and the damage of method of clamping conveying to glass pieces can be avoided; Can complete workpiece blanking operation by blowing operation again, relative to common material grasping sucker when feeding, need adopt manual operation or workpiece is separated with material grasping sucker by frame for movement, positive air pressure is blown can put down workpiece more easily, promotes operating efficiency.
2. by this seven axis robot, workpiece discharging frame are separated with the engraver's table of carving machine, the slide rail be arranged in parallel by employing and drive track draw seven axis robot, workpiece discharging frame, while shaking in minimizing seven axis robot transmitting procedure, the vibrations of seven axis robot parts and the vibrations of host machine part are not influenced each other, and the precise degrees of the workpiece of carve has further lifting.
Accompanying drawing explanation
Fig. 1 is complete machine schematic top plan view of the present utility model;
Fig. 2 is complete machine schematic side view of the present utility model;
Fig. 3 is the enlarged drawing of the a-quadrant of Fig. 2;
Fig. 4 is the schematic diagram of charging and discharging mechanism.
Detailed description of the invention
Above-mentioned explanation is only the general introduction of technical solutions of the utility model, in order to technological means of the present utility model can be better understood, and can be implemented according to the content of description, coordinate accompanying drawing to be described in detail to this patent with preferred embodiment of the present utility model below.
As Fig. 1 ~ Fig. 4, a kind of seven axis robot, comprise the cross slide way 111 and cross drive mechanism 112 that are mutually slidably matched and the lateral cylinder 113 driving slip mutually, the riser guide 121 be mutually slidably matched and lifting transmission mechanism 122 drive the longitudinal cylinder 123 mutually slided, the telescopic arm 131 be mutually slidably matched and flexible connecting gear 132 drive the telescopic cylinder 133 mutually slided, described riser guide 121 to be arranged on above cross drive mechanism 112 and perpendicular to cross slide way 111, flexible connecting gear 132 to be arranged on above lifting transmission mechanism 122 and perpendicular to riser guide 121 and cross slide way 111, the end of telescopic arm 131 has the handling equipment of band sucker, described handling equipment can overturn before and after 90 ° under the promotion of loading and unloading cylinder 52, in described sucker, card is communicated with the tracheae that can produce positive and negative air-pressure, tracheae is connected with gas positive-negative pressure control device gas.
When transmitting workpiece, seven axis robot are located by Intergration system 6, move on cage basket 2, falling handling equipment makes sucker contact workpiece 7, negative pressure tracheae 511 air-breathing produces negative pressure and picks up workpiece 7, for the kind of different workpiece 7, can different selection modes be adopted in Intergration system 6, or regulate the size producing negative pressure.
Further, described tracheae is two, is respectively malleation tracheae 512 and negative pressure tracheae 511, and described negative pressure tracheae 511 controls to produce negative pressure by gas positive-negative pressure control device; Described malleation tracheae 512 controls to produce positive air pressure by gas positive-negative pressure control device, by will the negative pressure tracheae 511 of malleation malleation tracheae 512 and generation negative pressure be produced separately, when workpiece 7 is separated with sucker, malleation tracheae 512 slowly can promote positive air pressure, negative pressure tracheae 511 slowly reduces negative pressure, and workpiece 7 is separated with sucker when suitable atmospheric pressure is interval; And single pass positive and negative tracheae transfers barotropic state to from negative pressure state, need larger air-blowing quantity that workpiece 7 is separated with sucker, improve the security to workpiece 7 transmitting procedure.
Preferably, described gas positive-negative pressure control device is magnetic valve, can control the size of gas positive-negative pressure more accurately.
Embodiment 2
As Fig. 1 ~ Fig. 4, a kind of seven axis robot carving machines, the cage basket 2 that seven axis robot comprised in embodiment 1 also comprise frame outward, Intergration system 6, the engraver's table 4 be separated with frame, dustless electric cabinet 7, array have some slots.The operating desk of described frame is horizontally disposed with a pair slide rail (31) and a pair drive track (32), drive track (32) is positioned at slide rail (31) central authorities, and drive track 32 is arranged in parallel and all perpendicular to cross slide way (111) with slide rail 31.Described workpiece discharging frame 2 and seven axis robot are fixed on drive track 32 with on slide rail 31, and along slide rail 31 back and forth movement under the drive of drive track 32.
Preferably, described engraver's table 4 number is 3 ~ 6, and in the present embodiment, engraver's table 4 number is 4, described engraver's table 4 has the negative pressure generating device 41 of absorption workpiece.
When transmitting workpiece, seven axis robot are located by Intergration system 6, move on cage basket 2, falling handling equipment makes sucker contact workpiece 7, negative pressure tracheae 511 air-breathing produces negative pressure and picks up workpiece 7, for the kind of different workpiece 7, can different selection modes be adopted in Intergration system 6, or regulate the size producing negative pressure.Loading and unloading cylinder 52 promotes handling equipment 90 degree rotation, on travelling workpiece 7 to engraver's table 4, negative pressure generating device 41 on engraver's table 4 produces vacuum suction and lives workpiece 7, and the malleation tracheae 512 of handling equipment 5 produces positive air pressure and falls workpiece 7, completes the conveying operations of a subjob 7; Workpiece 7, under the negative pressure of negative pressure generating device 41, is attracted and carries out sculpting operation on engraver's table 4; Now, seven axis robot carry out the transmission of workpiece 7 again, because seven axis robot are arranged in the frame be separated with engraver's table 4, the vibrations that seven axis robot produce can not affect the carrying out that engraver's table 4 carves operation, therefore the transmission of holding workpiece 7 in the process can carried out in engraving operation, after workpiece 7 is carved, can carry out the operation of blanking next time at once, save the time of material transferring, increase work efficiency.
Certainly, above diagram is only the utility model better embodiment, not limits the scope of application of the present utility model with this, therefore, every make in the utility model principle equivalence change all should be included in protection domain of the present utility model.
Claims (10)
1. an axis robot, comprise the cross slide way (111) and cross drive mechanism (112) that are mutually slidably matched and the lateral dynamics source driving slip mutually, the Longitudinal source of the riser guide (121) be mutually slidably matched and lifting transmission mechanism (122) and the mutual slip of driving, the flexible power source of the telescopic arm (131) be mutually slidably matched and flexible connecting gear (132) and the mutual slip of driving, it is characterized in that, described riser guide (121) be arranged on cross drive mechanism (112) top and perpendicular to cross slide way (111), flexible connecting gear (132) is arranged on lifting transmission mechanism (122) top and perpendicular to riser guide (121) and cross slide way (111), the end of telescopic arm (131) has the handling equipment of band sucker, described handling equipment overturns before and after carrying out 90 °, in described sucker, card is communicated with the tracheae that can produce positive and negative air-pressure, tracheae is connected with gas positive-negative pressure control device gas.
2. a kind of seven axis robot as claimed in claim 1, it is characterized in that, described power source is cylinder.
3. a kind of seven axis robot as claimed in claim 1, is characterized in that, described handling equipment can carry out 90 ° under the promotion of loading and unloading cylinder before and after upset.
4. a kind of seven axis robot as claimed in claim 3, it is characterized in that, described tracheae is two, is respectively malleation tracheae (152) and negative pressure tracheae (151), and described negative pressure tracheae (151) controls to produce negative pressure by gas positive-negative pressure control device; Described malleation tracheae (152) controls to produce positive air pressure by gas positive-negative pressure control device.
5. as one seven axis robot in claim 1 ~ 4 as described in any one, it is characterized in that, described gas positive-negative pressure control device is magnetic valve.
6. one kind comprises seven axis robot carving machines of claim 1 ~ 5 any one, comprise frame, Intergration system, the engraver's table (4) be separated with frame, dustless electric cabinet (7), workpiece discharging frame, it is characterized in that, the operating desk of described frame is horizontally disposed with a pair slide rail (31) and a pair drive track (32), described drive track (32) and slide rail (31) are arranged in parallel and all perpendicular to cross slide way (111); Described workpiece discharging frame and seven axis robot are fixed on drive track (32) with on slide rail (31), and along slide rail (31) back and forth movement under the drive of drive track (32).
7. a kind of seven axis robot carving machines as claimed in claim 6, it is characterized in that, described workpiece discharging frame is the cage basket (2) that array has some slots.
8. a kind of seven axis robot carving machines as claimed in claim 7, is characterized in that, described drive track (32) is positioned at slide rail (31) central authorities.
9. the one seven axis robot carving machine as described in claim 6 ~ 8 any one, is characterized in that, described engraver's table (4) has the negative pressure generating device (41) of absorption workpiece.
10. a kind of seven axis robot carving machines as claimed in claim 9, it is characterized in that, described engraver's table (4) number is 3 ~ 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520711714.3U CN205058038U (en) | 2015-09-15 | 2015-09-15 | Seven manipulators and seven manipulator cnc engraving and milling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520711714.3U CN205058038U (en) | 2015-09-15 | 2015-09-15 | Seven manipulators and seven manipulator cnc engraving and milling machine |
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| Publication Number | Publication Date |
|---|---|
| CN205058038U true CN205058038U (en) | 2016-03-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520711714.3U Expired - Fee Related CN205058038U (en) | 2015-09-15 | 2015-09-15 | Seven manipulators and seven manipulator cnc engraving and milling machine |
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| CN (1) | CN205058038U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106218288A (en) * | 2016-07-19 | 2016-12-14 | 周燕 | Glass-engraving equipment and use the glass making processes of this equipment |
| CN106585252A (en) * | 2016-12-09 | 2017-04-26 | 潘茜茜 | Auxiliary clamp for engraving machine |
| CN107200220A (en) * | 2017-06-21 | 2017-09-26 | 北京精雕科技集团有限公司 | A kind of multi-station manipulator feeding device with plug in basket |
| CN107745598A (en) * | 2017-11-14 | 2018-03-02 | 深圳市创世纪机械有限公司 | Glass finishing impression equipment and its automatic loading and unloading device |
| CN107972394A (en) * | 2017-11-10 | 2018-05-01 | 上海神添实业有限公司 | A kind of multiaxis automatic loading/unloading end mechanical gripper |
| CN108058523A (en) * | 2017-11-10 | 2018-05-22 | 上海神添实业有限公司 | A kind of automatic loading/unloading equipment of multiaxis carving machine |
| CN108177472A (en) * | 2017-12-28 | 2018-06-19 | 江苏瑞苏科技有限公司 | A kind of positioning device of carving machine |
| CN109502345A (en) * | 2018-12-04 | 2019-03-22 | 东莞市佳优米光电科技有限公司 | Mobile phone glass carving machine |
| CN110194017A (en) * | 2019-06-14 | 2019-09-03 | 东莞市雕润数控科技有限公司 | A kind of glass numerical control machine |
| CN111391553A (en) * | 2020-03-23 | 2020-07-10 | 东莞市飞尧科技有限公司 | Glass cnc engraving and milling machine of rotatory aversion |
| CN111391552A (en) * | 2020-03-23 | 2020-07-10 | 东莞市飞尧科技有限公司 | Glass cnc engraving and milling machine with transmission device in middle of work piece |
-
2015
- 2015-09-15 CN CN201520711714.3U patent/CN205058038U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106218288B (en) * | 2016-07-19 | 2018-07-20 | 广东顺德晶纬玻璃制品有限公司 | Glass-engraving equipment and the glass making processes for using the equipment |
| CN106218288A (en) * | 2016-07-19 | 2016-12-14 | 周燕 | Glass-engraving equipment and use the glass making processes of this equipment |
| CN106585252A (en) * | 2016-12-09 | 2017-04-26 | 潘茜茜 | Auxiliary clamp for engraving machine |
| CN106585252B (en) * | 2016-12-09 | 2018-08-10 | 潘茜茜 | The mating of engraving machine clamps |
| CN107200220A (en) * | 2017-06-21 | 2017-09-26 | 北京精雕科技集团有限公司 | A kind of multi-station manipulator feeding device with plug in basket |
| CN107972394A (en) * | 2017-11-10 | 2018-05-01 | 上海神添实业有限公司 | A kind of multiaxis automatic loading/unloading end mechanical gripper |
| CN108058523A (en) * | 2017-11-10 | 2018-05-22 | 上海神添实业有限公司 | A kind of automatic loading/unloading equipment of multiaxis carving machine |
| CN108058523B (en) * | 2017-11-10 | 2019-10-18 | 上海神添实业有限公司 | A kind of automatic loading/unloading equipment of multiaxis carving machine |
| CN107745598A (en) * | 2017-11-14 | 2018-03-02 | 深圳市创世纪机械有限公司 | Glass finishing impression equipment and its automatic loading and unloading device |
| CN108177472A (en) * | 2017-12-28 | 2018-06-19 | 江苏瑞苏科技有限公司 | A kind of positioning device of carving machine |
| CN109502345A (en) * | 2018-12-04 | 2019-03-22 | 东莞市佳优米光电科技有限公司 | Mobile phone glass carving machine |
| CN110194017A (en) * | 2019-06-14 | 2019-09-03 | 东莞市雕润数控科技有限公司 | A kind of glass numerical control machine |
| CN110194017B (en) * | 2019-06-14 | 2020-09-08 | 东莞市雕润数控科技有限公司 | Glass numerical control machine |
| CN111391553A (en) * | 2020-03-23 | 2020-07-10 | 东莞市飞尧科技有限公司 | Glass cnc engraving and milling machine of rotatory aversion |
| CN111391552A (en) * | 2020-03-23 | 2020-07-10 | 东莞市飞尧科技有限公司 | Glass cnc engraving and milling machine with transmission device in middle of work piece |
| CN111391553B (en) * | 2020-03-23 | 2021-05-25 | 信丰尚玻建材有限公司 | Glass cnc engraving and milling machine of rotatory aversion |
| CN111391552B (en) * | 2020-03-23 | 2021-07-30 | 江西金枪鱼智能科技有限公司 | Glass cnc engraving and milling machine with transmission device in middle of work piece |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160302 Termination date: 20210915 |
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| CF01 | Termination of patent right due to non-payment of annual fee |